/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2023-03-01     86188       the first version
 */
#ifndef APPLICATIONS_HEADER_FILE_SINS_H_
#define APPLICATIONS_HEADER_FILE_SINS_H_
#include <imu.h>

typedef struct
{
    Axis3f bfAcce;
    Axis3f nfAcce;

    Axis3f nfPos;
    Axis3f nfSpeed;
    Axis3f bfSpeed;
    Axis3f Acce;

    Axis3f PosObser;
    Axis3f PosR;
    Axis3f VelObser;

    Axis3f* gyro;
    IMU_st* angle;

    /* 导航系向机体系xy向量转换 yaw:rad*/
    void (*Navi_To_Body_2)(Axis2f *bf, Axis2f *nf, const float yaw);

}SINS_HandleTypedef;
extern SINS_HandleTypedef BODY;

void Position_Estimation(float dt);

#endif /* APPLICATIONS_HEADER_FILE_SINS_H_ */
